Deployment mechanisms for surgical instruments

The present application claims the benefit of and priority to U.S. Provisional Application Ser. No. 62/051,376, filed on Sep. 17, 2014, the entire contents of which are incorporated herein by reference.

The present disclosure relates to deployment mechanisms for surgical instruments. More particularly, the present disclosure relates to deployment mechanisms for multi-functional surgical instruments.

Background of Related Art

Many surgical instruments include one or more movable handles, levers, actuators, triggers, etc. for actuating and/or manipulating one or more functional components of the surgical instrument. For example, a surgical forceps may include a movable handle that is selectively compressible relative to a stationary handle for moving first and second jaw members of the forceps between spaced-apart and approximated positions for grasping tissue therebetween. Such a forceps may further include a trigger for selectively deploying a knife between the jaw members to cut tissue grasped therebetween.

As can be appreciated, as additional functional components are added to the surgical instrument, additional deployment structures or deployment structures capable of actuating more than one component are required. However, multiple deployment structures and/or combined deployment structures may be limited by spatial constraints within the housing of the surgical instrument, functional constraints of the components (e.g., where a combined deployment structure imparts additional force requirements for deploying one or more of the components coupled thereto), and/or may overly complicate the operable components of the surgical instrument.

In view of the foregoing, deployment mechanisms that are configured for use with multi-functional surgical instruments that are operable in bipolar and/or monopolar modes of operation, and which are easy to operate and inexpensive to manufacture may prove useful in the surgical arena.

As used herein, the term “distal” refers to the portion that is being described that is further from a user, while the term “proximal” refers to the portion that is being described that is closer to a user. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any of the other aspects described herein.

Provided in accordance with aspects of the present disclosure is an electrosurgical instrument including a housing, a shaft extending distally from the housing, an end effector assembly attached to a distal end of the shaft, and a handle assembly coupled to the housing. The handle assembly includes a movable handle operable to manipulate the end effector assembly. The instrument further includes an outer sleeve disposed about and selectively translatable relative to the shaft, an energizable member operably coupled to the outer sleeve, and a deployment mechanism operably coupled to the housing. The deployment mechanism includes a lever rotatably coupled to the housing and positioned proximally of the movable handle and one or more link members coupled between the lever and the outer sleeve. The one or more link members are coupled to the outer sleeve distally of the movable handle. In use, rotation of the lever relative to the housing moves the one or more link members, which, in turn, translates the outer sleeve distally to move the outer sleeve over the end effector assembly and simultaneously deploy the energizable member distally past the end effector assembly.

In an aspect of the present disclosure, a collar is operably disposed on a proximal end of the outer sleeve. The collar is pivotably coupled to the one or more link members.

In another aspect of the present disclosure, first and second link members are provided. In such aspects a first pivot pin pivotably couples a distal end of the second link member to the collar of the outer sleeve. Further, a proximal end of the first link member may be pivotably coupled to the lever and a distal end of the first link may be pivotably coupled to a proximal end of the second link member via a second pivot pin.

In yet another aspect of the present disclosure, an elongated slot is defined in the housing and extends from an interior wall of the housing. The elongated slot operably receives the second pivot pin. Further, the second pivot pin may be configured to translate within the elongated slot when the lever is rotated relative to the housing to guide movement of the first and second link members.

In still another aspect of the present disclosure, the lever is rotatable between a first configuration, wherein the outer sleeve and energizable member are disposed in retracted positions, and a second configuration, wherein the outer sleeve and energizable member are disposed in deployed positions.

In still yet another aspect of the present disclosure, the lever includes a body portion disposed within the housing and a paddle portion extending from the body portion through an opening in the housing to permit manipulation thereof from an exterior of the housing.

In another aspect of the present disclosure, the end effector assembly is configured for treating tissue with bipolar energy and the energizable member is configured for treating tissue with monopolar energy.

Provided in accordance with other aspects of the present disclosure is an electrosurgical instrument including a housing, a shaft extending distally from the housing, and an end effector assembly attached at a distal end of the shaft. An outer sleeve is disposed about the shaft and selectively translatable relative to the shaft. An energizable member is operably coupled to the outer sleeve. A deployment mechanism is operably coupled to the housing and includes a lever rotatably coupled to the housing via an axle, and first, second, and third link members. The first link member is pivotably coupled to the axle at a fixed end thereof and defines a free end. The second link member is pivotably coupled to the housing at a fixed end thereof and coupled to the deployable assembly at a free end thereof. The second link member defines an intermediate portion disposed between the fixed and free ends. A third link member is pivotably coupled between the fixed end of the first link member and the intermediate portion of the second link member. In use, rotation of the lever about the axle pivots the first and second link members about the respective fixed ends thereof and effects movement of the third link member, thereby translating the outer sleeve distally over the end effector assembly and simultaneously deploying the energizable member distally past the end effector assembly.

In an aspect of the present disclosure, the first link member includes a bifurcated configuration having an opening defined therein that is configured to receive the outer sleeve therebetween.

In another aspect of the present disclosure, the second link member includes a bifurcated configuration having opposing finger portions each defining an elongated slot configured to receive at least a portion of a pivot pin coupled to the outer sleeve.

In still another aspect of the present disclosure, the lever is rotatable between a first configuration, wherein the outer sleeve and energizable member are disposed in retracted positions, and a second configuration, wherein the outer sleeve and energizable member are disposed in deployed positions.

In yet another aspect of the present disclosure, the end effector assembly is configured for treating tissue with bipolar energy and the energizable member is configured for treating tissue with monopolar energy.

In still yet another aspect of the present disclosure, the lever includes a body portion disposed within the housing and a paddle portion extending from the body portion through an opening in the housing to permit manipulation thereof from an exterior of the housing.

Provided in accordance with other aspects of the present disclosure is an electrosurgical instrument including a housing, a shaft extending distally from the housing, and an end effector assembly attached at a distal end of the shaft. An outer sleeve is disposed about the shaft and selectively translatable relative to the shaft. An energizable member is operably coupled to the outer sleeve. A deployment mechanism is operably coupled to the housing and includes a lever rotatably coupled to the housing via an axle, a first link member, and a second link member. The first link member is pivotably coupled to the axle at a fixed end thereof and defines a free end. The second link member is pivotably coupled to the housing at a fixed end thereof and coupled to the deployable assembly at a free end thereof. The second link member defines an intermediate portion disposed between the fixed and free ends. The free end of the first link member is pivotably coupled to the intermediate portion of the second link member. In use, rotation of the lever about the axle pivots the first and second link members about the respective fixed ends thereof, thereby translating the outer sleeve distally over the end effector assembly and simultaneously deploying the energizable member distally past the end effector assembly.

In another aspect of the present disclosure, the second link member includes a bifurcated configuration having opposing finger portions each defining an elongated slot configured to receive at least a portion of a pivot pin coupled to the outer sleeve.

In still another aspect of the present disclosure, the lever is rotatable between a first configuration, wherein the outer sleeve and energizable member are disposed in retracted positions, and a second configuration, wherein the outer sleeve and energizable member are disposed in deployed positions.

In yet another aspect of the present disclosure, the end effector assembly is configured for treating tissue with bipolar energy and the energizable member is configured for treating tissue with monopolar energy.

In still yet another aspect of the present disclosure, the lever includes a body portion disposed within the housing and a paddle portion extending from the body portion through an opening in the housing to permit manipulation thereof from an exterior of the housing.

Various aspects of the present disclosure are described herein with reference to the drawings wherein like reference numerals identify similar or identical elements:

FIG. 1 is a side, right perspective view of an endoscopic surgical forceps in accordance with an embodiment of the present disclosure;

FIG. 2 is a partial, cut-away view of a proximal end of the endoscopic surgical forceps shown in FIG. 1 with a deployment mechanism of the endoscopic surgical forceps shown in a retracted configuration;

FIG. 3 is a partial, cut-away view of the proximal end of the endoscopic surgical forceps with the deployment mechanism shown in a deployed configuration;

FIG. 4 is a partial, left perspective view of the proximal end of the endoscopic surgical forceps with a thumb paddle of the deployment mechanism shown in the deployed configuration;

FIG. 5A is a cross-sectional view of a distal end of the endoscopic surgical forceps with a monopolar electrode, which is connected to the deployment mechanism shown in FIGS. 2 and 3 , shown in the retracted configuration;

FIG. 5B is a cross-sectional view of the distal end of the endoscopic surgical forceps with the monopolar electrode of FIG. 5A shown in the deployed configuration;

FIG. 6 is a partial, perspective view of a proximal end of an endoscopic surgical forceps including a deployment mechanism in accordance with another embodiment of the present disclosure;

FIG. 7 is a partial, cut-away view of the proximal end of the endoscopic surgical forceps shown in FIG. 6 with the deployment mechanism shown in a retracted configuration;

FIG. 8 is an isometric view of FIG. 7 ;

FIG. 9 is a partial, cut-away view of the proximal end of the endoscopic surgical forceps shown in FIG. 6 with the deployment mechanism of FIG. 7 shown in a deployed configuration;

FIG. 10 is a partial, perspective view of a proximal end of an endoscopic surgical forceps including a deployment mechanism in accordance with yet another embodiment of the present disclosure;

FIG. 11 is an isometric view of FIG. 10 ; and

FIG. 12 is a partial, cut-away view of the proximal end of the endoscopic surgical forceps shown in FIG. 10 with the deployment mechanism shown in a deployed configuration.

Deployment mechanisms that are configured for use with multi-functional surgical instruments that are operable in bipolar and/or monopolar modes of operation may prove useful in the surgical arena, and such deployment mechanisms are described herein. Specifically, the deployment mechanisms described herein include one or more linkage configurations that, when actuated, move a monopolar electrode of the electrosurgical forceps from a retracted configuration to a deployed configuration to electrosurgically treat tissue.

FIGS. 1-4 illustrate a forceps 10 that includes a deployment mechanism 28 in accordance with an embodiment of the present disclosure. The forceps 10 is configured to operate in both a bipolar mode, e.g., for grasping, treating, coagulating and/or sealing tissue, and a monopolar mode, e.g., for treating and/or dissecting tissue, although other configurations are also contemplated.

Briefly, the forceps 10 includes an outer fixed shaft 12 defining a longitudinal axis “A-A,” a housing 14 , a handle assembly 16 , a trigger assembly 18 (only shown in FIG. 1 ), a rotating assembly 20 , an end effector assembly 22 , and a monopolar assembly that includes an outer sleeve 24 and an energizable rod member 26 (the energizable rod 26 is shown in FIG. 5B ). For a more detailed description of the forceps 10 and operative components associated therewith, reference is made to commonly-owned U.S. patent application Ser. No. 14/047,474.

The deployment mechanism 28 includes a lever 30 that is positioned within the housing 14 ( FIGS. 2 and 3 ). The lever 30 includes a thumb paddle 32 that is operable by a user from left and/or right exterior side surfaces 14 a , 14 b , respectively, of the housing 14 . In the illustrated embodiment, the thumb paddle 32 is disposed within opposing recesses 34 ( FIGS. 1 and 4 ) defined on the left and right exterior side surfaces 14 a , 14 b of the housing 14 . The thumb paddle 32 may be positioned on only one of the left or right sides side surfaces 14 a , 14 b of the housing 14 . The thumb paddle 32 is movable within the recesses 34 relative to the housing 14 from a first configuration ( FIG. 2 ) to second configuration ( FIGS. 1, 3, and 4 ). In FIG. 1 , the paddle 32 is shown between the first and second configurations.

Referring to FIGS. 2 and 3 , a bottom portion 36 of the lever 30 is pivotably coupled to a proximal end 38 of the fixed outer shaft 12 adjacent a spring cartridge 40 of a drive assembly 42 of the forceps 10 . The bottom portion 36 pivots about the outer fixed shaft 12 when the lever 30 is moved between the first and second configurations. An upper portion 44 of the lever 30 pivotably couples to a linkage 46 via one or more suitable coupling methods, e.g. a pin, rivet or the like (not explicitly shown).

Continuing with reference to FIGS. 2 and 3 , the linkage 46 includes a first link member 46 a and a second link member 46 b . A proximal end 48 of the first link member 46 a pivotably couples to the upper portion 44 of the lever 30 via one of the aforementioned coupling members (e.g., a pin, rivet, or the like.). A distal end 50 of the first link member 46 a couples to a proximal end 52 of the second link member 46 b via a pivot 54 (e.g., a pivot pin 54 ). The pivot pin 54 is slidably disposed within an elongated slot 56 defined in an interior wall 58 of the housing 14 (as best seen in FIG. 3 ). The elongated slot 56 has a slight curvature adjacent its distal end and extends distally into a tapered distal end of the housing 14 .

In the embodiment illustrated in FIGS. 1-4 , the first link member 46 a also includes a slight curvature adjacent its distal end, which facilitates sliding the first link member 46 a within the elongated slot 56 . When the thumb paddle 32 of the lever 30 is moved from the first configuration to the second configuration, the pivot pin 54 is slid into position at a distal end of the elongated slot 56 ( FIG. 3 ) which allows the proximal end 52 of the second link member 46 b to pivot about the pivot pin 54 and move a distal end 60 of the second link member 46 b distally.

The distal end 60 of the second link member 46 b couples to a collar 62 via a pivot pin 64 . The collar 62 is operably coupled to a proximal end 66 of the outer insulative sleeve 24 of the monopolar assembly of the forceps 10 . When the proximal end 52 of the second link member 46 b pivots about the pivot pin 54 , the distal end 60 of the second link member 46 b moves distally, which, in turn, moves the collar 62 and the outer insulative sleeve 24 distally thereby covering a pair of jaw members 21 , 23 of the end effector assembly 22 , as will be described in detail below.

The outer insulative sleeve 24 is slidably disposed about outer fixed shaft 12 and is configured for translation about and relative to the outer fixed shaft 12 between a fully retracted configuration ( FIGS. 2 and 5A ) and a fully deployed configuration ( FIGS. 3, 4, and 5B ). In the retracted configuration, the outer insulative sleeve 24 is disposed proximal of the end effector assembly 22 , and in the deployed configuration, the outer insulative sleeve 24 is disposed about the end effector assembly 22 to substantially cover the jaw members 21 , 23 .

Referring to FIGS. 5A and 5B , the energizable rod member 26 is coupled to the outer insulative sleeve 24 such that advancement of the outer insulative sleeve 24 between the retracted and deployed configurations and advancement of energizable rod member 26 between the retracted and deployed configurations are effected concurrently or near concurrently, via actuation of the lever 30 . Energizable rod member 26 is coupled to a source of energy for providing energy to a distal tip 25 of the energizable rod member 26 , e.g., upon actuation of an activation switch 68 ( FIGS. 1-4 ) in a monopolar mode of operation, for treating tissue using monopolar energy.

As discussed above, the forceps 10 is operable in both the bipolar mode, e.g., for grasping, treating, coagulating, sealing and/or cutting tissue, and the monopolar mode, e.g., for electrosurgical tissue treatment. In use, with respect to either mode of operation, initially, forceps 10 is manipulated such that end effector assembly 22 is positioned and oriented as desired within a surgical site.

In the bipolar mode, the outer insulative sleeve 24 and energizable rod member 26 of the monopolar assembly remain disposed in the retracted configuration, as shown in FIGS. 2 and 5A . With the jaw members 21 , 23 of the end effector assembly 22 disposed in the spaced-apart configuration, the end effector assembly 22 may be maneuvered into position such that tissue to be grasped and treated is disposed between jaw members 21 , 23 . Next, the movable handle 17 ( FIG. 1 ) of the handle assembly 16 is actuated, or pulled proximally relative to a fixed handle 15 ( FIG. 1 ) such that jaw member 21 is pivoted relative to jaw member 23 from the spaced-apart configuration to the approximated configuration to grasp tissue therebetween, as shown in FIG. 5A . In this approximated configuration, energy may be selectively supplied, e.g., via activation switch 68 , to tissue-sealing plates (not explicitly shown) of the jaw members 21 , 23 and conducted through tissue to effect a tissue seal or otherwise treat tissue.

With respect to the monopolar mode of operation, the movable handle 17 is first depressed relative to fixed handle 15 to pivot jaw member 21 relative to jaw member 23 from the spaced-apart configuration to the approximated configuration. Once jaw members 21 , 23 are disposed in the approximated configuration, the thumb paddle 32 of the lever 30 is moved from the first configuration to the second configuration, thereby urging the first and second link members 46 a , 46 b distally. Distal translation of the first and second link members 46 a , 46 b , in turn, translates the collar 36 distally through the housing 14 . Distal translation of the collar 36 moves the outer insulative sleeve 24 of the monopolar assembly distally over the end effector assembly 22 and moves the energizable rod member 26 distally such that the distal tip 25 of energizable rod member 26 extends distally from both the end effector assembly 22 and the outer insulative sleeve 24 ( FIG. 5B ).

With the distal tip 25 of the energizable rod 26 disposed in the deployed configuration, the activation switch 68 of the forceps 10 may be selectively actuated to supply energy to the distal tip 25 of energizable rod member 26 for electrosurgically treating tissue. The distal tip 25 may also be used in a mechanical fashion depending upon the shape of the distal tip 25 .

The deployment mechanism 28 described herein for use with the forceps 10 is easy to operate and inexpensive to manufacture when compared to the aforementioned conventional deployment mechanisms, as the deployment mechanism 28 is not interconnected with the handle assembly 16 , rotation assembly 20 and/or the trigger assembly 18 of the forceps 10 .

From the foregoing and with reference to the various figure drawings, those skilled in the art will appreciate that certain modifications can also be made to the present disclosure without departing from the scope of the same. For example, other linkage configurations may be used to move the outer sleeve 24 including the energizable rod 26 between the retracted and deployed configurations.

Referring now to FIGS. 6-9 , a forceps 110 that includes a deployment mechanism 128 according an embodiment of the instant disclosure is shown. For clarity, the forceps 110 is shown without the rotation assembly, the movable handle assembly, trigger assembly, and the end effector assembly. The deployment mechanism 128 is similar to the deployment mechanism 28 , thus only those features unique to the deployment mechanism 128 are described herein.

A lever 130 having a generally elongated configuration may be positioned on the left (not shown) and/or right sides 114 a of the housing 114 . For illustrative purposes, the lever 130 is shown positioned on the right side 114 a of the housing 114 . The lever 130 is configured to allow a user to selectively move the lever 130 between the first and second configurations to effect movement of an outer insulative sleeve 124 including an energizable rod, e.g., energizable rod 26 .

An axle 131 supports the lever 130 and extends through an aperture (not explicitly shown) defined through the housing 114 . The axle 131 is rotatable with respect to the housing 114 and connects the lever 130 to a linkage 146 including a first link member 146 a , a second link member 146 b , and a third link member 146 c.

The first link member 146 a includes an aperture defined therein at a bottom end thereof (not explicitly shown) configured to receive the axle 131 . First link member 146 a is bifurcated and includes opposing finger portions 147 a , 147 b that extend from the bottom end of the first link member 146 a and define an opening 148 therebetween configured to receive the outer insulative sleeve 124 ( FIG. 8 ). The opening 148 allows the outer insulative sleeve 124 to translate between the opposing finger portions 147 a , 147 b when the lever 130 is moved between the first and second configurations.

The second link member 146 b includes an aperture (not explicitly shown) at a distal end 150 thereof that, along with apertures (not explicitly shown) defined through top portions of the opposing finger portions 147 a , 147 b , are configured to receive a pivot pin 164 . The pivot pin 164 connects the distal end 150 of the second link member 146 b to the opposing finger portions 147 a , 147 b of the first link member 146 a.

The second link member 146 b includes at its proximal end an aperture (not explicitly shown) defined therein that, along with apertures (not explicitly shown) defined through opposing finger portions 149 a , 149 b of the third link member 146 c , are configured to receive a pivot pin 166 . The pivot pin 166 connects the proximal end of the second link member 146 b to the opposing finger portions 149 a , 149 b of the third link member 146 c.

The third link member 146 c includes a detent 154 at a top end thereof that is rotatably seated within a corresponding indent (not explicitly shown) defined within an interior wall portion 158 of the housing 114 . This indent and detent configuration allows the third link member 146 c to rotate in relation to the interior wall 158 of the housing 114 when the lever 130 is moved between the first and second configurations.

A pair of elongated slots 160 a , 160 b are defined through the opposing finger portions 149 a , 149 b of the third link member 146 c and are configured receive a pivot pin 168 positioned on the outer insulative sleeve 124 . The pivot pin 168 couples to the proximal end of the outer insulative sleeve 124 and extends transversely in relation to the longitudinal axis “A-A.”

In use, once the jaw members 21 , 23 are disposed in the approximated configuration, the lever 130 is moved from the first configuration to the second configuration, thereby urging the first, second, and third link members 146 a , 146 b , 146 c distally. Distal translation of the first, second, and third link members 146 a , 146 b , 146 c , in turn, moves the outer insulative sleeve 124 and the energizable rod member 126 in a manner as described above with respect to the outer insulative sleeve 24 and the energizable rod member 26 (see FIG. 9 ).

FIGS. 10-12 illustrate a forceps 210 that includes a deployment mechanism 228 according yet another embodiment of the instant disclosure. Deployment mechanism 228 is similar to deployment mechanism 128 and, accordingly, only those features unique to the deployment mechanism 228 are described herein.

A lever 230 having a generally elongated configuration is disposed on the left and/or right sides of the housing 214 . For illustrative purposes, the lever 230 is shown for actuation from the right side of the housing 214 . The lever 230 is configured to allow a user to move the lever 230 between the first and second configurations to effect movement of an outer insulative sleeve 224 including an energizable rod, e.g., the energizable rod 26 .

The lever 230 includes an axle 231 at a top end thereof that extends through an aperture (not explicitly shown) defined through the housing 214 . The axle 231 is rotatable with respect to the housing 214 and connects the lever 230 to a linkage assembly 246 including a first link member 246 a , a second link member 246 b , and a third link member 246 c.

Referring to FIG. 11 , the first link member 246 a includes a body portion 247 having a cylindrical configuration. The body portion 247 rotatably seats within a corresponding cylindrical aperture (not explicitly shown) defined within an interior wall portion 258 of the housing 214 . The body portion 247 includes an aperture (not explicitly shown) that receives the axle 231 of the lever 230 to secure the lever 230 to the body portion 247 of the first link member 246 a . The body portion 247 also includes a flange 249 that is positioned between opposing wall portions 248 a , 248 b provided at a distal end of the second link member 246 b.

The opposing wall portions 248 a , 248 b have apertures (not explicitly shown) that, along with an aperture (not explicitly shown) defined through the flange 249 , receive a pivot pin 264 that connects the wall portions 248 a , 248 b of the second link member 246 b to the flange 249 of the first link member 246 a.

The second link member 246 b includes an aperture (not explicitly shown) at a proximal end thereof that, along with apertures (not explicitly shown) defined through opposing finger portions 251 a , 251 b of the third link member 246 c , receive a pivot pin 266 that connects the proximal end of the second link member 246 b to the opposing finger portions 251 a , 251 b of the third link member 246 c.

The third link member 246 c includes a detent 254 at a top end thereof that couples to a corresponding indent (not explicitly shown) defined within the interior wall portion 258 of the housing 214 . This indent and detent configuration allows the third link member 246 c to rotate in relation to the interior wall 258 of the housing 214 when the lever 230 is moved between the first and second configurations.

Elongated slots 260 a , 260 b are defined through the opposing finger portions 251 a , 251 b of the third link member 246 c and are configured to receive a pivot pin 268 disposed on the outer insulative sleeve 224 . The pivot pin 268 couples to a proximal end of the outer insulative sleeve 224 and extends transversely in relation to the longitudinal axis “A-A.”

In use, once the jaw members 21 , 23 are disposed in the approximated configuration, the lever 230 is moved from the first configuration to the second configuration, thereby urging the first, second, and third link members 246 a , 246 b , 246 c distally. Distal translation of the first, second, and third link members 246 a , 246 b , 246 c , in turn, moves the outer insulative sleeve 224 and of the energizable rod member 26 in a manner as described above with respect to the outer insulative sleeve 24 and the energizable rod member 26 .

It is noted that the aforementioned advantages described with respect to the deployment mechanism 28 configured for use with the forceps 10 are attainable also with the deployment mechanisms 128 , 228 .

The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery”. Such systems employ various robotic elements to assist the surgeon in the operating theatre and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include, remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.